D.G. Arseniev
Doctor of Technical Sciences, Saint-Petersburg State Polytechnical University (SPBSPU), Vicerector of international activity, Professor, Politekhnicheskaya ul. 29, Saint-Petersburg, Russia, tel.: +7(812)534-10-01, This email address is being protected from spambots. You need JavaScript enabled to view it.
N.A. Babakina
Saint-Petersburg State Polytechnical University (SPBSPU), Assistant, Politekhnicheskaya ul. 21, Saint-Petersburg, Russia, tel.: +7(812)329-47-45, This email address is being protected from spambots. You need JavaScript enabled to view it.
M.P. Kolesnikov
Saint-Petersburg State Polytechnical University (SPBSPU), Senior Lecturer, Politekhnicheskaya ul. 29, Saint-Petersburg, Russia, tel.: +7(911)157-72 46, This email address is being protected from spambots. You need JavaScript enabled to view it.
V.P. Shkodyrev
Doctor of Technical Sciences, Saint-Petersburg State Polytechnical University (SPBSPU), Professor, Head of chair, Politekhnicheskaya ul. 21, Saint-Petersburg, Russia, tel.: +7(812)329-47-45, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
Method of building dynamic geometrical descriptions for environmental objects, providing the task of autonomous mobile systems' goal-directed motion, is described. The proposed approach is based on representation of received environmental images as ordered structures of one-dimensional simplexes. This makes possible to implement fast algorithms of mapping, localization and identification of environmental objects.
Key words
Computer vision system, localization, SLAM, environment representation, geometrical description of object.
Year 2014 Issue number 1 Consecutive issue number 2 Pages 58-64
UDC identifier: 007.52:004.93
